More research has been conducted on the topic since 2011, and the answer should now be revised from yes, to requires more evidence.
From The Skeptic's Guide to Sports Science: Confronting Myths of the Health and Fitness Industry by Nicholas B. Tiller (Routledge; April 15, 2020):
The most recent studies in this domain bring into question the
purported benefits of minimalist running shoes in mimicking habitual
barefoot running. Moreover, a 2017 review of 15 studies on 1,899 total
participants observed no difference in relative injury rates between
people who run habitually barefoot compared to those who run
habitually shod, and no evidence.
To summarize, the premise of barefoot running is logical and the early
(preliminary) evidence promising; however, the marketing campaign
hinges on several logical fallacies and, more pertinently, the
long-term evaluations from systematic reviews suggest little-to-no
difference in injury risk and/or performance with minimalist versus
contemporary shoes. Until convincing research is published to the
contrary, we should be very cautious in actively promoting barefoot
running as a replacement modern trainers.
From the Orthopaedic Perspective on Barefoot and Minimalist Running review, 2016:
despite the large gap of evidence-based knowledge on minimalist
running, the potential benefits warrant further research and
And from the The Risks and Benefits of Running Barefoot or in Minimalist Shoes review, 2014:
Because of lack of high-quality evidence, no definitive conclusions
can be drawn regarding specific risks or benefits to running barefoot,
shod, or in minimalist shoes.
There's also a new paper from 2019, Running Ground Reaction Forces Across Footwear Conditions Are Predicted From the Motion of Two Body Mass Components, that provides a new perspective on Lieberman's original results and puts into question some of the benefits of barefoot running.